v9 good with 13 m/s

examples/parking_4p.jl

@@ -12,11 +12,11 @@ using Pkg
 # pkg"add KiteModels#main"
 
 using KiteControllers, KiteViewers, KiteModels, ControlPlots, Rotations
-set = deepcopy(load_settings("system.yaml"))
+set = deepcopy(load_settings("system_v9.yaml"))
 set.abs_tol=0.00006
 set.rel_tol=0.0001
 # set.version = 1
-set.v_wind = 7.7 # v_min1 7.7; v_min2 12.3 v_min3 10.5
+set.v_wind = 13 # v_min1 7.7; v_min2 12.3 v_min3 10.5
 
 kcu::KCU = KCU(set)
 kps4::KPS4 = KPS4(kcu)
@@ -48,12 +48,12 @@ if KiteUtils.PROJECT == "system.yaml"
 else
     # result of tuning
     println("not system.yaml")
-    fcs.p=0.25
-    fcs.i=0.04
-    fcs.d=13.25*1.3
+    fcs.p=1.6
+    fcs.i=0.06
+    fcs.d=13.25*1.25
     MIN_DEPOWER       = 0.4
     fcs.use_chi = false
-    fcs.gain = 0.04*0.5
+    fcs.gain = 0.04*3
 end
 println("fcs.p=$(fcs.p), fcs.i=$(fcs.i), fcs.d=$(fcs.d), fcs.gain=$(fcs.gain)")
 
@@ -92,7 +92,7 @@ function simulate(integrator)
             if KiteUtils.PROJECT == "system.yaml"
                 steering = calc_steering(ssc, 0; heading)
             else
-                steering = -calc_steering(ssc, 0; heading)
+                steering = calc_steering(ssc, 0; heading)
             end
             # steering = 0.15*sys_state.azimuth
             time = i * dt